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<div class="title">conditional_removal.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
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<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTER_IMPL_FIELD_VAL_CONDITION_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTER_IMPL_FIELD_VAL_CONDITION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/common/copy_point.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/conditional_removal.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classpcl_1_1_field_comparison.html#a4cf475656b05a3a0621b126d04ab004d">   49</a></span>&#160;<a class="code" href="classpcl_1_1_field_comparison.html">pcl::FieldComparison&lt;PointT&gt;::FieldComparison</a> (</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    std::string field_name, ComparisonOps::CompareOp op, <span class="keywordtype">double</span> compare_val) </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  : <a class="code" href="classpcl_1_1_comparison_base.html">ComparisonBase</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; ()</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  , compare_val_ (compare_val), point_data_ (NULL)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#afe5a8620d01d90ba4600e45f1da8d508">field_name_</a> = field_name;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a709e0c328ab14d502be0454380932652">op_</a> = op;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="comment">// Get all fields</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; point_fields;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">// Use a dummy cloud to get the field types in a clever way</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> dummyCloud;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (dummyCloud, point_fields);</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="comment">// Find field_name</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="keywordflow">if</span> (point_fields.empty ())</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::FieldComparison::FieldComparison] no fields found!\n&quot;</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// Get the field index</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordtype">size_t</span> d;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  <span class="keywordflow">for</span> (d = 0; d &lt; point_fields.size (); ++d)</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_data_at_offset.html#a8713ce3dcb0a169674d8fff2bd8e1bb6">   74</a></span>&#160;  {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordflow">if</span> (point_fields[d].name == field_name) </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span> (d == point_fields.size ())</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::FieldComparison::FieldComparison] field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  uint8_t datatype = point_fields[d].datatype;</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  uint32_t offset = point_fields[d].offset;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <a class="code" href="classpcl_1_1_field_comparison.html#a74886910ce7eaccd0cd44e131def29ae">point_data_</a> = <span class="keyword">new</span> PointDataAtOffset&lt;PointT&gt;(datatype, offset);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;}</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1_field_comparison.html#a51b20fb0c4694d1d8f225f5bae7e8513">   94</a></span>&#160;<a class="code" href="classpcl_1_1_field_comparison.html#a51b20fb0c4694d1d8f225f5bae7e8513">pcl::FieldComparison&lt;PointT&gt;::~FieldComparison</a> () </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;{</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  <span class="keywordflow">if</span> (point_data_ != NULL)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  {</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keyword">delete</span> point_data_;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    point_data_ = NULL;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;}</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1_field_comparison.html#abbc5e8dec0e7ffc8a473fa4138158487">  105</a></span>&#160;<a class="code" href="classpcl_1_1_field_comparison.html#abbc5e8dec0e7ffc8a473fa4138158487">pcl::FieldComparison&lt;PointT&gt;::evaluate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">if</span> (!this-&gt;capable_)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::FieldComparison::evaluate] invalid compariosn!\n&quot;</span>);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="comment">// if p(data) &gt; val then compare_result = 1</span></div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="comment">// if p(data) == val then compare_result = 0</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="comment">// if p(data) &lt;  ival then compare_result = -1</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="keywordtype">int</span> compare_result = point_data_-&gt;compare (point, compare_val_);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="keywordflow">switch</span> (this-&gt;op_)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::GT :</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordflow">return</span> (compare_result &gt; 0);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::GE :</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keywordflow">return</span> (compare_result &gt;= 0);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::LT :</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordflow">return</span> (compare_result &lt; 0);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::LE :</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordflow">return</span> (compare_result &lt;= 0);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::EQ :</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordflow">return</span> (compare_result == 0);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[pcl::FieldComparison::evaluate] unrecognized op_!\n&quot;</span>);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;}</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_packed_r_g_b_comparison.html#a9176ec21fbb830cef55c069bac1668f6">  140</a></span>&#160;<a class="code" href="classpcl_1_1_packed_r_g_b_comparison.html">pcl::PackedRGBComparison&lt;PointT&gt;::PackedRGBComparison</a> (</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    std::string component_name, ComparisonOps::CompareOp op, <span class="keywordtype">double</span> compare_val) :</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  component_name_ (component_name), component_offset_ (), compare_val_ (compare_val)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;{</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="comment">// get all the fields</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; point_fields;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  <span class="comment">// Use a dummy cloud to get the field types in a clever way</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> dummyCloud;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (dummyCloud, point_fields);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="comment">// Locate the &quot;rgb&quot; field</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordtype">size_t</span> d;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keywordflow">for</span> (d = 0; d &lt; point_fields.size (); ++d)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keywordflow">if</span> (point_fields[d].name == <span class="stringliteral">&quot;rgb&quot;</span> || point_fields[d].name == <span class="stringliteral">&quot;rgba&quot;</span>)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordflow">if</span> (d == point_fields.size ())</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedRGBComparison::PackedRGBComparison] rgb field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="comment">// Verify the datatype</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  uint8_t datatype = point_fields[d].datatype;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  <span class="keywordflow">if</span> (datatype != pcl::PCLPointField::FLOAT32 &amp;&amp;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      datatype != pcl::PCLPointField::UINT32 &amp;&amp;</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      datatype != pcl::PCLPointField::INT32)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedRGBComparison::PackedRGBComparison] has unusable type!\n&quot;</span>);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  }</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="comment">// Verify the component name</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;  <span class="keywordflow">if</span> (component_name == <span class="stringliteral">&quot;r&quot;</span>)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <a class="code" href="classpcl_1_1_packed_r_g_b_comparison.html#a58814eba8fac60e9c88a0312af198cc0">component_offset_</a> = point_fields[d].offset + 2;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (component_name == <span class="stringliteral">&quot;g&quot;</span>)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <a class="code" href="classpcl_1_1_packed_r_g_b_comparison.html#a58814eba8fac60e9c88a0312af198cc0">component_offset_</a> = point_fields[d].offset + 1;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  }</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (component_name == <span class="stringliteral">&quot;b&quot;</span>)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <a class="code" href="classpcl_1_1_packed_r_g_b_comparison.html#a58814eba8fac60e9c88a0312af198cc0">component_offset_</a> = point_fields[d].offset;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  {</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedRGBComparison::PackedRGBComparison] unrecognized component name!\n&quot;</span>);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  }</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  <span class="comment">// save the rest of the context</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a709e0c328ab14d502be0454380932652">op_</a> = op;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;}</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1_packed_r_g_b_comparison.html#ae38e8bd30af2a99db2e7fd422fc916a9">  203</a></span>&#160;<a class="code" href="classpcl_1_1_packed_r_g_b_comparison.html#ae38e8bd30af2a99db2e7fd422fc916a9">pcl::PackedRGBComparison&lt;PointT&gt;::evaluate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="comment">// extract the component value</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keyword">const</span> uint8_t* pt_data = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span> (&amp;point);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  uint8_t my_val = *(pt_data + component_offset_);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="comment">// now do the comparison</span></div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  <span class="keywordflow">switch</span> (this-&gt;op_) </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::GT :</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keywordflow">return</span> (my_val &gt; this-&gt;compare_val_);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::GE :</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="keywordflow">return</span> (my_val &gt;= this-&gt;compare_val_);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::LT :</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">return</span> (my_val &lt; this-&gt;compare_val_);</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::LE :</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keywordflow">return</span> (my_val &lt;= this-&gt;compare_val_);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::EQ :</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="keywordflow">return</span> (my_val == this-&gt;compare_val_);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedRGBComparison::evaluate] unrecognized op_!\n&quot;</span>);</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;  }</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;}</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00232"></a><span class="lineno"><a class="line" href="classpcl_1_1_packed_h_s_i_comparison.html#ab6114412362be092b4544ee53ad3784f">  232</a></span>&#160;<a class="code" href="classpcl_1_1_packed_h_s_i_comparison.html">pcl::PackedHSIComparison&lt;PointT&gt;::PackedHSIComparison</a> (</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    std::string component_name, ComparisonOps::CompareOp op, <span class="keywordtype">double</span> compare_val) : </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  component_name_ (component_name), component_id_ (), compare_val_ (compare_val), rgb_offset_ ()</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;{</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  <span class="comment">// Get all the fields</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; point_fields;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="comment">// Use a dummy cloud to get the field types in a clever way</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> dummyCloud;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  <a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (dummyCloud, point_fields);</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="comment">// Locate the &quot;rgb&quot; field</span></div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordtype">size_t</span> d;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keywordflow">for</span> (d = 0; d &lt; point_fields.size (); ++d)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="keywordflow">if</span> (point_fields[d].name == <span class="stringliteral">&quot;rgb&quot;</span> || point_fields[d].name == <span class="stringliteral">&quot;rgba&quot;</span>) </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordflow">if</span> (d == point_fields.size ())</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedHSIComparison::PackedHSIComparison] rgb field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="comment">// Verify the datatype</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  uint8_t datatype = point_fields[d].datatype;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordflow">if</span> (datatype != pcl::PCLPointField::FLOAT32 &amp;&amp;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      datatype != pcl::PCLPointField::UINT32 &amp;&amp;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;      datatype != pcl::PCLPointField::INT32)</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedHSIComparison::PackedHSIComparison] has unusable type!\n&quot;</span>);</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <span class="comment">// verify the offset</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  uint32_t offset = point_fields[d].offset;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keywordflow">if</span> (offset % 4 != 0)</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedHSIComparison::PackedHSIComparison] rgb field is not 32 bit aligned!\n&quot;</span>);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  }</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <a class="code" href="classpcl_1_1_packed_h_s_i_comparison.html#a497c1061fd8fe8c8c78c6fd515f6e81b">rgb_offset_</a> = point_fields[d].offset;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="comment">// verify the component name</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keywordflow">if</span> (component_name == <span class="stringliteral">&quot;h&quot;</span> ) </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <a class="code" href="classpcl_1_1_packed_h_s_i_comparison.html#ae244d3507ca4d3bada04b031020de3cc">component_id_</a> = H;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  } </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (component_name == <span class="stringliteral">&quot;s&quot;</span>) </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <a class="code" href="classpcl_1_1_packed_h_s_i_comparison.html#ae244d3507ca4d3bada04b031020de3cc">component_id_</a> = S;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  } </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (component_name == <span class="stringliteral">&quot;i&quot;</span>) </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  { </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <a class="code" href="classpcl_1_1_packed_h_s_i_comparison.html#ae244d3507ca4d3bada04b031020de3cc">component_id_</a> = I;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  } </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  {</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedRGBComparison::PackedRGBComparison] unrecognized component name!\n&quot;</span>);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="comment">// Save the context</span></div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a709e0c328ab14d502be0454380932652">op_</a> = op;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;}</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00302"></a><span class="lineno"><a class="line" href="classpcl_1_1_packed_h_s_i_comparison.html#aa394610f9d8de6030109371978e771b3">  302</a></span>&#160;<a class="code" href="classpcl_1_1_packed_h_s_i_comparison.html#aa394610f9d8de6030109371978e771b3">pcl::PackedHSIComparison&lt;PointT&gt;::evaluate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="comment">// Since this is a const function, we can&#39;t make these data members because we change them here</span></div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="keyword">static</span> uint32_t rgb_val_ = 0;</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  <span class="keyword">static</span> uint8_t r_ = 0;</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keyword">static</span> uint8_t g_ = 0;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="keyword">static</span> uint8_t b_ = 0;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keyword">static</span> int8_t h_ = 0;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="keyword">static</span> uint8_t s_ = 0;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keyword">static</span> uint8_t i_ = 0;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  <span class="comment">// We know that rgb data is 32 bit aligned (verified in the ctor) so...</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keyword">const</span> uint8_t* pt_data = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span> (&amp;point);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keyword">const</span> uint32_t* rgb_data = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint32_t*<span class="keyword">&gt;</span> (pt_data + rgb_offset_);</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  uint32_t new_rgb_val = *rgb_data;</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  <span class="keywordflow">if</span> (rgb_val_ != new_rgb_val) </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  { <span class="comment">// avoid having to redo this calc, if possible</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    rgb_val_ = new_rgb_val;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="comment">// extract r,g,b</span></div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    r_ = <span class="keyword">static_cast &lt;</span>uint8_t<span class="keyword">&gt;</span> (rgb_val_ &gt;&gt; 16); </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    g_ = <span class="keyword">static_cast &lt;</span>uint8_t<span class="keyword">&gt;</span> (rgb_val_ &gt;&gt; 8);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    b_ = <span class="keyword">static_cast &lt;</span>uint8_t<span class="keyword">&gt;</span> (rgb_val_);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="comment">// definitions taken from http://en.wikipedia.org/wiki/HSL_and_HSI</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;    <span class="keywordtype">float</span> hx = (2.0f * r_ - g_ - b_) / 4.0f;  <span class="comment">// hue x component -127 to 127</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keywordtype">float</span> hy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (g_ - b_) * 111.0f / 255.0f; <span class="comment">// hue y component -111 to 111</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    h_ = <span class="keyword">static_cast&lt;</span>int8_t<span class="keyword">&gt;</span> (atan2(hy, hx) * 128.0f / M_PI);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;    int32_t i = (r_+g_+b_)/3; <span class="comment">// 0 to 255</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;    i_ = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (i);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;    int32_t m;  <span class="comment">// min(r,g,b)</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;    m = (r_ &lt; g_) ? r_ : g_;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;    m = (m &lt; b_) ? m : b_;</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;    s_ = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> ((i == 0) ? 0 : 255 - (m * 255) / i); <span class="comment">// saturation 0 to 255</span></div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  }</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="keywordtype">float</span> my_val = 0;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;  <span class="keywordflow">switch</span> (component_id_) </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;  {</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    <span class="keywordflow">case</span> H:</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      my_val = <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (h_);</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;    <span class="keywordflow">case</span> S:</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      my_val = <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (s_);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    <span class="keywordflow">case</span> I:</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      my_val = <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i_);</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;    <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      assert (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  }</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="comment">// now do the comparison</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  <span class="keywordflow">switch</span> (this-&gt;op_) </div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::GT :</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      <span class="keywordflow">return</span> (my_val &gt; this-&gt;compare_val_);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::GE :</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keywordflow">return</span> (my_val &gt;= this-&gt;compare_val_);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::LT :</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      <span class="keywordflow">return</span> (my_val &lt; this-&gt;compare_val_);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::LE :</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keywordflow">return</span> (my_val &lt;= this-&gt;compare_val_);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::EQ :</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;      <span class="keywordflow">return</span> (my_val == this-&gt;compare_val_);</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[pcl::PackedHSIComparison::evaluate] unrecognized op_!\n&quot;</span>);</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  }</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;}</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00382"></a><span class="lineno"><a class="line" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a23dbc06ac0fa16d04ea66bf66e35baa6">  382</a></span>&#160;<a class="code" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a23dbc06ac0fa16d04ea66bf66e35baa6">pcl::TfQuadraticXYZComparison&lt;PointT&gt;::TfQuadraticXYZComparison</a> () :</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  comp_matr_ (), comp_vect_ (), comp_scalar_ (0.0)</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;{</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="comment">// get all the fields</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; point_fields;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  <span class="comment">// Use a dummy cloud to get the field types in a clever way</span></div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> dummyCloud;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  <a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (dummyCloud, point_fields);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  <span class="comment">// Locate the &quot;x&quot; field</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  <span class="keywordtype">size_t</span> dX;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="keywordflow">for</span> (dX = 0; dX &lt; point_fields.size (); ++dX)</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    <span class="keywordflow">if</span> (point_fields[dX].name == <span class="stringliteral">&quot;x&quot;</span>)</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  }</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;  <span class="keywordflow">if</span> (dX == point_fields.size ())</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  {</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::TfQuadraticXYZComparison::TfQuadraticXYZComparison] x field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;  }</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;  <span class="comment">// Locate the &quot;y&quot; field</span></div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;  <span class="keywordtype">size_t</span> dY;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;  <span class="keywordflow">for</span> (dY = 0; dY &lt; point_fields.size (); ++dY)</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;  {</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    <span class="keywordflow">if</span> (point_fields[dY].name == <span class="stringliteral">&quot;y&quot;</span>)</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="keywordflow">if</span> (dY == point_fields.size ())</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;  {</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::TfQuadraticXYZComparison::TfQuadraticXYZComparison] y field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;  }</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;  <span class="comment">// Locate the &quot;z&quot; field</span></div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  <span class="keywordtype">size_t</span> dZ;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keywordflow">for</span> (dZ = 0; dZ &lt; point_fields.size (); ++dZ)</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;  {</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;    <span class="keywordflow">if</span> (point_fields[dZ].name == <span class="stringliteral">&quot;z&quot;</span>)</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;  }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;  <span class="keywordflow">if</span> (dZ == point_fields.size ())</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;  {</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::TfQuadraticXYZComparison::TfQuadraticXYZComparison] z field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  comp_matr_ &lt;&lt; 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  comp_vect_ &lt;&lt; 0.0, 0.0, 0.0, 1.0;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  tf_comp_matr_ = comp_matr_;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;  tf_comp_vect_ = comp_vect_;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a709e0c328ab14d502be0454380932652">op_</a> = pcl::ComparisonOps::EQ;</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;}</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160; </div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00443"></a><span class="lineno"><a class="line" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a37970a15684eceb16d06aa759de87993">  443</a></span>&#160;<a class="code" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a23dbc06ac0fa16d04ea66bf66e35baa6">pcl::TfQuadraticXYZComparison&lt;PointT&gt;::TfQuadraticXYZComparison</a> (<span class="keyword">const</span> pcl::ComparisonOps::CompareOp op,</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;                                                                 <span class="keyword">const</span> Eigen::Matrix3f &amp;comparison_matrix,</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;                                                                 <span class="keyword">const</span> Eigen::Vector3f &amp;comparison_vector,</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;                                                                 <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;comparison_scalar,</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;                                                                 <span class="keyword">const</span> Eigen::Affine3f &amp;comparison_transform) :</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  comp_matr_ (), comp_vect_ (), comp_scalar_ (comparison_scalar)</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;{</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;  <span class="comment">// get all the fields</span></div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;  std::vector&lt;pcl::PCLPointField&gt; point_fields;</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;  <span class="comment">// Use a dummy cloud to get the field types in a clever way</span></div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointT&gt;</a> dummyCloud;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;  <a class="code" href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a> (dummyCloud, point_fields);</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;  <span class="comment">// Locate the &quot;x&quot; field</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;  <span class="keywordtype">size_t</span> dX;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;  <span class="keywordflow">for</span> (dX = 0; dX &lt; point_fields.size (); ++dX)</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;  {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;    <span class="keywordflow">if</span> (point_fields[dX].name == <span class="stringliteral">&quot;x&quot;</span>)</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;  }</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;  <span class="keywordflow">if</span> (dX == point_fields.size ())</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  {</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::TfQuadraticXYZComparison::TfQuadraticXYZComparison] x field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;  }</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;  <span class="comment">// Locate the &quot;y&quot; field</span></div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;  <span class="keywordtype">size_t</span> dY;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;  <span class="keywordflow">for</span> (dY = 0; dY &lt; point_fields.size (); ++dY)</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;  {</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;    <span class="keywordflow">if</span> (point_fields[dY].name == <span class="stringliteral">&quot;y&quot;</span>)</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;  }</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;  <span class="keywordflow">if</span> (dY == point_fields.size ())</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;  {</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::TfQuadraticXYZComparison::TfQuadraticXYZComparison] y field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;  }</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;  <span class="comment">// Locate the &quot;z&quot; field</span></div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  <span class="keywordtype">size_t</span> dZ;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;  <span class="keywordflow">for</span> (dZ = 0; dZ &lt; point_fields.size (); ++dZ)</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;  {</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;    <span class="keywordflow">if</span> (point_fields[dZ].name == <span class="stringliteral">&quot;z&quot;</span>)</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;  }</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;  <span class="keywordflow">if</span> (dZ == point_fields.size ())</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;  {</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::TfQuadraticXYZComparison::TfQuadraticXYZComparison] z field not found!\n&quot;</span>);</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;    <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  }</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">capable_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  <a class="code" href="classpcl_1_1_comparison_base.html#a709e0c328ab14d502be0454380932652">op_</a> = op;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  <a class="code" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#aebb2683ad5578b74adae49816da0252d">setComparisonMatrix</a> (comparison_matrix);</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  <a class="code" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a47d5d97a31a86606f138aeae4de0d5e7">setComparisonVector</a> (comparison_vector);</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  <span class="keywordflow">if</span> (!comparison_transform.matrix ().isIdentity ())</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;    <a class="code" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a888f33172e35b6d8ffb3e3305661aeeb">transformComparison</a> (comparison_transform);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;}</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;<span class="keywordtype">bool</span></div>
<div class="line"><a name="l00509"></a><span class="lineno"><a class="line" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a258054e9ce6fa5f7f85777fbbc4a506f">  509</a></span>&#160;<a class="code" href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a258054e9ce6fa5f7f85777fbbc4a506f">pcl::TfQuadraticXYZComparison&lt;PointT&gt;::evaluate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;  Eigen::Vector4f pointAffine;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  pointAffine &lt;&lt; point.x, point.y, point.z, 1; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  </div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;  <span class="keywordtype">float</span> myVal = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(2.0f * tf_comp_vect_.transpose () * pointAffine) + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(pointAffine.transpose () * tf_comp_matr_ * pointAffine) + comp_scalar_ - 3.0f;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;  </div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  <span class="comment">// now do the comparison</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  <span class="keywordflow">switch</span> (this-&gt;op_)</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;  {</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::GT:</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;      <span class="keywordflow">return</span> (myVal &gt; 0);</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::GE:</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      <span class="keywordflow">return</span> (myVal &gt;= 0);</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::LT:</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="keywordflow">return</span> (myVal &lt; 0);</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::LE:</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      <span class="keywordflow">return</span> (myVal &lt;= 0);</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;    <span class="keywordflow">case</span> pcl::ComparisonOps::EQ:</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      <span class="keywordflow">return</span> (myVal == 0);</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[pcl::transformableQuadricXYZComparison::evaluate] unrecognized op_!\n&quot;</span>);</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;  }</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;}</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">int</span></div>
<div class="line"><a name="l00539"></a><span class="lineno"><a class="line" href="classpcl_1_1_point_data_at_offset.html#a8713ce3dcb0a169674d8fff2bd8e1bb6">  539</a></span>&#160;<a class="code" href="classpcl_1_1_point_data_at_offset.html#a8713ce3dcb0a169674d8fff2bd8e1bb6">pcl::PointDataAtOffset&lt;PointT&gt;::compare</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; p, <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; val) </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;{</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;  <span class="comment">// if p(data) &gt; val return 1</span></div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;  <span class="comment">// if p(data) == val return 0</span></div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;  <span class="comment">// if p(data) &lt; val return -1 </span></div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;  </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;  <span class="keyword">const</span> uint8_t* pt_data = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span> (&amp;p);</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160; </div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  <span class="keywordflow">switch</span> (datatype_) </div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  {</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;    <span class="keywordflow">case</span> pcl::PCLPointField::INT8 :</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;    {</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      int8_t pt_val;</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      memcpy (&amp;pt_val, pt_data + this-&gt;offset_, <span class="keyword">sizeof</span> (int8_t));</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      <span class="keywordflow">return</span> (pt_val &gt; <span class="keyword">static_cast&lt;</span>int8_t<span class="keyword">&gt;</span>(val)) - (pt_val &lt; static_cast&lt;int8_t&gt; (val));</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;    }</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;    <span class="keywordflow">case</span> pcl::PCLPointField::UINT8 :</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;    {</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;      uint8_t pt_val;</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;      memcpy (&amp;pt_val, pt_data + this-&gt;offset_, <span class="keyword">sizeof</span> (uint8_t));</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;      <span class="keywordflow">return</span> (pt_val &gt; <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span>(val)) - (pt_val &lt; static_cast&lt;uint8_t&gt; (val));</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    }</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;    <span class="keywordflow">case</span> pcl::PCLPointField::INT16 :</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;    {</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;      int16_t pt_val;</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      memcpy (&amp;pt_val, pt_data + this-&gt;offset_, <span class="keyword">sizeof</span> (int16_t));</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;      <span class="keywordflow">return</span> (pt_val &gt; <span class="keyword">static_cast&lt;</span>int16_t<span class="keyword">&gt;</span>(val)) - (pt_val &lt; static_cast&lt;int16_t&gt; (val));</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    }</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;    <span class="keywordflow">case</span> pcl::PCLPointField::UINT16 :</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;    {</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      uint16_t pt_val;</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      memcpy (&amp;pt_val, pt_data + this-&gt;offset_, <span class="keyword">sizeof</span> (uint16_t));</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      <span class="keywordflow">return</span> (pt_val &gt; <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span> (val)) - (pt_val &lt; static_cast&lt;uint16_t&gt; (val));</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;    }</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;    <span class="keywordflow">case</span> pcl::PCLPointField::INT32 :</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    {</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;      int32_t pt_val;</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      memcpy (&amp;pt_val, pt_data + this-&gt;offset_, <span class="keyword">sizeof</span> (int32_t));</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;      <span class="keywordflow">return</span> (pt_val &gt; <span class="keyword">static_cast&lt;</span>int32_t<span class="keyword">&gt;</span> (val)) - (pt_val &lt; static_cast&lt;int32_t&gt; (val));</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;    }</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;    <span class="keywordflow">case</span> pcl::PCLPointField::UINT32 :</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;    {</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;      uint32_t pt_val;</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;      memcpy (&amp;pt_val, pt_data + this-&gt;offset_, <span class="keyword">sizeof</span> (uint32_t));</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      <span class="keywordflow">return</span> (pt_val &gt; <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (val)) - (pt_val &lt; static_cast&lt;uint32_t&gt; (val));</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;    }</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    <span class="keywordflow">case</span> pcl::PCLPointField::FLOAT32 :</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;    {</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;      <span class="keywordtype">float</span> pt_val;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;      memcpy (&amp;pt_val, pt_data + this-&gt;offset_, <span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      <span class="keywordflow">return</span> (pt_val &gt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (val)) - (pt_val &lt; static_cast&lt;float&gt; (val));</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;    }</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;    <span class="keywordflow">case</span> pcl::PCLPointField::FLOAT64 :</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;    {</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;      <span class="keywordtype">double</span> pt_val;</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      memcpy (&amp;pt_val, pt_data + this-&gt;offset_, <span class="keyword">sizeof</span> (<span class="keywordtype">double</span>));</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;      <span class="keywordflow">return</span> (pt_val &gt; val) - (pt_val &lt; val);</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;    }</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    default : </div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;      PCL_WARN (<span class="stringliteral">&quot;[pcl::pcl::PointDataAtOffset::compare] unknown data_type!\n&quot;</span>);</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;      <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  }</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;}</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00607"></a><span class="lineno"><a class="line" href="classpcl_1_1_condition_base.html#af7986108d79c5c5e018e7d7a95def1e1">  607</a></span>&#160;<a class="code" href="classpcl_1_1_condition_base.html#af7986108d79c5c5e018e7d7a95def1e1">pcl::ConditionBase&lt;PointT&gt;::addComparison</a> (ComparisonBaseConstPtr comparison)</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;{</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  <span class="keywordflow">if</span> (!comparison-&gt;isCapable ())</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    capable_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  comparisons_.push_back (comparison);</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;}</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00616"></a><span class="lineno"><a class="line" href="classpcl_1_1_condition_base.html#a792d0879d0a7b6be032546322b1d966e">  616</a></span>&#160;<a class="code" href="classpcl_1_1_condition_base.html#a792d0879d0a7b6be032546322b1d966e">pcl::ConditionBase&lt;PointT&gt;::addCondition</a> (Ptr condition)</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;{</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;  <span class="keywordflow">if</span> (!condition-&gt;isCapable ())</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;    capable_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;  conditions_.push_back (condition);</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;}</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00627"></a><span class="lineno"><a class="line" href="classpcl_1_1_condition_and.html#a9ca8cd98a6fbc9b5466a171f7b9d51fa">  627</a></span>&#160;<a class="code" href="classpcl_1_1_condition_and.html#a9ca8cd98a6fbc9b5466a171f7b9d51fa">pcl::ConditionAnd&lt;PointT&gt;::evaluate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; comparisons_.size (); ++i)</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;    <span class="keywordflow">if</span> (!comparisons_[i]-&gt;evaluate (point))</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160; </div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; conditions_.size (); ++i)</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;    <span class="keywordflow">if</span> (!conditions_[i]-&gt;evaluate (point))</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160; </div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;}</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160; </div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00644"></a><span class="lineno"><a class="line" href="classpcl_1_1_condition_or.html#adf41d1f01b86708c1ac27e7c85476886">  644</a></span>&#160;<a class="code" href="classpcl_1_1_condition_or.html#adf41d1f01b86708c1ac27e7c85476886">pcl::ConditionOr&lt;PointT&gt;::evaluate</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;point)<span class="keyword"> const</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;  <span class="keywordflow">if</span> (comparisons_.empty () &amp;&amp; conditions_.empty ()) </div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; comparisons_.size (); ++i)</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;    <span class="keywordflow">if</span> (comparisons_[i]-&gt;evaluate(point))</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160; </div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; conditions_.size (); ++i)</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    <span class="keywordflow">if</span> (conditions_[i]-&gt;evaluate (point))</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;      <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160; </div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;}</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160; </div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;<a class="code" href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval&lt;PointT&gt;::setCondition</a> (ConditionBasePtr condition)</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;{</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;  condition_ = condition;</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;  capable_ = condition_-&gt;isCapable ();</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;}</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160; </div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00671"></a><span class="lineno"><a class="line" href="classpcl_1_1_conditional_removal.html#a1fddb6f21d057f41a77e73b4168ffb8c">  671</a></span>&#160;<a class="code" href="classpcl_1_1_conditional_removal.html#a1fddb6f21d057f41a77e73b4168ffb8c">pcl::ConditionalRemoval&lt;PointT&gt;::applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;{</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;  <span class="keywordflow">if</span> (capable_ == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;  {</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::applyFilter] not capable!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;  }</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;  <span class="comment">// Has the input dataset been set already?</span></div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;  <span class="keywordflow">if</span> (!input_)</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;  {</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::applyFilter] No input dataset given!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;  }</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160; </div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;  <span class="keywordflow">if</span> (condition_.get () == NULL) </div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  {</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;[pcl::%s::applyFilter] No filtering condition given!\n&quot;</span>, getClassName ().c_str ());</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  }</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160; </div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;  <span class="comment">// Copy the header (and thus the frame_id) + allocate enough space for points</span></div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>       = input_-&gt;header;</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  <span class="keywordflow">if</span> (!keep_organized_)</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;  {</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>    = 1;   <span class="comment">// filtering breaks the organized structure</span></div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>  = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;  } </div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;  <span class="keywordflow">else</span> </div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;  {</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = this-&gt;input_-&gt;height;</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = this-&gt;input_-&gt;width;</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = this-&gt;input_-&gt;is_dense;</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;  }</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;  output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (input_-&gt;points.size ());</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;  removed_indices_-&gt;resize (input_-&gt;points.size ());</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160; </div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;  <span class="keywordtype">int</span> nr_p = 0;</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;  <span class="keywordtype">int</span> nr_removed_p = 0;</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160; </div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  <span class="keywordflow">if</span> (!keep_organized_)</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  {</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cp = 0; cp &lt; Filter&lt;PointT&gt;::indices_-&gt;size (); ++cp)</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;    {</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[(*<a class="code" href="classpcl_1_1_filter.html">Filter &lt; PointT &gt; ::indices_</a>)[cp]].x)</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;          || !pcl_isfinite (input_-&gt;points[(*<a class="code" href="classpcl_1_1_filter.html">Filter &lt; PointT &gt; ::indices_</a>)[cp]].y)</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;          || !pcl_isfinite (input_-&gt;points[(*<a class="code" href="classpcl_1_1_filter.html">Filter &lt; PointT &gt; ::indices_</a>)[cp]].z))</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;      {</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;        <span class="keywordflow">if</span> (extract_removed_indices_)</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;        {</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;          (*removed_indices_)[nr_removed_p] = (*<a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::indices_</a>)[cp];</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;          nr_removed_p++;</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;        }</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;      }</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160; </div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;      <span class="keywordflow">if</span> (condition_-&gt;evaluate (input_-&gt;points[(*<a class="code" href="classpcl_1_1_filter.html">Filter &lt; PointT &gt; ::indices_</a>)[cp]]))</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;      {</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;        <a class="code" href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">copyPoint</a> (input_-&gt;points[(*<a class="code" href="classpcl_1_1_filter.html">Filter &lt; PointT &gt; ::indices_</a>)[cp]], output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[nr_p]);</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;        nr_p++;</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;      }</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;      {</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;        <span class="keywordflow">if</span> (extract_removed_indices_)</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;        {</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;          (*removed_indices_)[nr_removed_p] = (*<a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::indices_</a>)[cp];</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;          nr_removed_p++;</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;        }</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;      }</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;    }</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160; </div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = nr_p;</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize (nr_p);</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;  }</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;  {</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;    std::vector&lt;int&gt; indices = *<a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    std::sort (indices.begin (), indices.end ());   <span class="comment">//TODO: is this necessary or can we assume the indices to be sorted?</span></div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;    <span class="keywordtype">bool</span> removed_p = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;    <span class="keywordtype">size_t</span> ci = 0;</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> cp = 0; cp &lt; input_-&gt;points.size (); ++cp)</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;    {</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;      <span class="keywordflow">if</span> (cp == <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (indices[ci]))</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;      {</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;        <span class="keywordflow">if</span> (ci &lt; indices.size () - 1)</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;        {</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;          ci++;</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;          <span class="keywordflow">if</span> (cp == <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (indices[ci]))   <span class="comment">//check whether the next index will have the same value. TODO: necessary?</span></div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;            <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;        }</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160; </div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;        <span class="comment">// copy all the fields</span></div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;        <a class="code" href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">copyPoint</a> (input_-&gt;points[cp], output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cp]);</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160; </div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;        <span class="keywordflow">if</span> (!condition_-&gt;evaluate (input_-&gt;points[cp]))</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;        {</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cp].getVector4fMap ().setConstant (user_filter_value_);</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;          removed_p = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160; </div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;          <span class="keywordflow">if</span> (extract_removed_indices_)</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;          {</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;            (*removed_indices_)[nr_removed_p] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cp);</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;            nr_removed_p++;</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;          }</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;        }</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;      }</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;      {</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;        output.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[cp].getVector4fMap ().setConstant (user_filter_value_);</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;        removed_p = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;        <span class="comment">//as for !keep_organized_: removed points due to setIndices are not considered as removed_indices_</span></div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;      }</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;    }</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160; </div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;    <span class="keywordflow">if</span> (removed_p &amp;&amp; !pcl_isfinite (user_filter_value_))</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;  }</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;  removed_indices_-&gt;resize (nr_removed_p);</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;}</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160; </div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PointDataAtOffset(T) template class PCL_EXPORTS pcl::PointDataAtOffset&lt;T&gt;;</span></div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ComparisonBase(T) template class PCL_EXPORTS pcl::ComparisonBase&lt;T&gt;;</span></div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_FieldComparison(T) template class PCL_EXPORTS pcl::FieldComparison&lt;T&gt;;</span></div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PackedRGBComparison(T) template class PCL_EXPORTS pcl::PackedRGBComparison&lt;T&gt;;</span></div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PackedHSIComparison(T) template class PCL_EXPORTS pcl::PackedHSIComparison&lt;T&gt;;</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_TfQuadraticXYZComparison(T) template class PCL_EXPORTS pcl::TfQuadraticXYZComparison&lt;T&gt;;</span></div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ConditionBase(T) template class PCL_EXPORTS pcl::ConditionBase&lt;T&gt;;</span></div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ConditionAnd(T) template class PCL_EXPORTS pcl::ConditionAnd&lt;T&gt;;</span></div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ConditionOr(T) template class PCL_EXPORTS pcl::ConditionOr&lt;T&gt;;</span></div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_ConditionalRemoval(T) template class PCL_EXPORTS pcl::ConditionalRemoval&lt;T&gt;;</span></div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160; </div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="ttc" id="aclasspcl_1_1_comparison_base_html"><div class="ttname"><a href="classpcl_1_1_comparison_base.html">pcl::ComparisonBase</a></div><div class="ttdoc">The (abstract) base class for the comparison object.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:89</div></div>
<div class="ttc" id="aclasspcl_1_1_comparison_base_html_a709e0c328ab14d502be0454380932652"><div class="ttname"><a href="classpcl_1_1_comparison_base.html#a709e0c328ab14d502be0454380932652">pcl::ComparisonBase::op_</a></div><div class="ttdeci">ComparisonOps::CompareOp op_</div><div class="ttdoc">The comparison operator type.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_comparison_base_html_a9664df54f741bccc65d817f9018611f3"><div class="ttname"><a href="classpcl_1_1_comparison_base.html#a9664df54f741bccc65d817f9018611f3">pcl::ComparisonBase::capable_</a></div><div class="ttdeci">bool capable_</div><div class="ttdoc">True if capable.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:113</div></div>
<div class="ttc" id="aclasspcl_1_1_comparison_base_html_afe5a8620d01d90ba4600e45f1da8d508"><div class="ttname"><a href="classpcl_1_1_comparison_base.html#afe5a8620d01d90ba4600e45f1da8d508">pcl::ComparisonBase::field_name_</a></div><div class="ttdeci">std::string field_name_</div><div class="ttdoc">Field name to compare data on.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_condition_and_html_a9ca8cd98a6fbc9b5466a171f7b9d51fa"><div class="ttname"><a href="classpcl_1_1_condition_and.html#a9ca8cd98a6fbc9b5466a171f7b9d51fa">pcl::ConditionAnd::evaluate</a></div><div class="ttdeci">virtual bool evaluate(const PointT &amp;point) const</div><div class="ttdoc">Determine if a point meets this condition.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:627</div></div>
<div class="ttc" id="aclasspcl_1_1_condition_base_html_a792d0879d0a7b6be032546322b1d966e"><div class="ttname"><a href="classpcl_1_1_condition_base.html#a792d0879d0a7b6be032546322b1d966e">pcl::ConditionBase::addCondition</a></div><div class="ttdeci">void addCondition(Ptr condition)</div><div class="ttdoc">Add a nested condition to this condition.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:616</div></div>
<div class="ttc" id="aclasspcl_1_1_condition_base_html_af7986108d79c5c5e018e7d7a95def1e1"><div class="ttname"><a href="classpcl_1_1_condition_base.html#af7986108d79c5c5e018e7d7a95def1e1">pcl::ConditionBase::addComparison</a></div><div class="ttdeci">void addComparison(ComparisonBaseConstPtr comparison)</div><div class="ttdoc">Add a new comparison</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:607</div></div>
<div class="ttc" id="aclasspcl_1_1_condition_or_html_adf41d1f01b86708c1ac27e7c85476886"><div class="ttname"><a href="classpcl_1_1_condition_or.html#adf41d1f01b86708c1ac27e7c85476886">pcl::ConditionOr::evaluate</a></div><div class="ttdeci">virtual bool evaluate(const PointT &amp;point) const</div><div class="ttdoc">Determine if a point meets this condition.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:644</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_removal_html"><div class="ttname"><a href="classpcl_1_1_conditional_removal.html">pcl::ConditionalRemoval</a></div><div class="ttdoc">ConditionalRemoval filters data that satisfies certain conditions.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:595</div></div>
<div class="ttc" id="aclasspcl_1_1_conditional_removal_html_a1fddb6f21d057f41a77e73b4168ffb8c"><div class="ttname"><a href="classpcl_1_1_conditional_removal.html#a1fddb6f21d057f41a77e73b4168ffb8c">pcl::ConditionalRemoval::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filter a Point Cloud.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:671</div></div>
<div class="ttc" id="aclasspcl_1_1_field_comparison_html"><div class="ttname"><a href="classpcl_1_1_field_comparison.html">pcl::FieldComparison</a></div><div class="ttdoc">The field-based specialization of the comparison object.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:129</div></div>
<div class="ttc" id="aclasspcl_1_1_field_comparison_html_a51b20fb0c4694d1d8f225f5bae7e8513"><div class="ttname"><a href="classpcl_1_1_field_comparison.html#a51b20fb0c4694d1d8f225f5bae7e8513">pcl::FieldComparison::~FieldComparison</a></div><div class="ttdeci">virtual ~FieldComparison()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:94</div></div>
<div class="ttc" id="aclasspcl_1_1_field_comparison_html_a74886910ce7eaccd0cd44e131def29ae"><div class="ttname"><a href="classpcl_1_1_field_comparison.html#a74886910ce7eaccd0cd44e131def29ae">pcl::FieldComparison::point_data_</a></div><div class="ttdeci">PointDataAtOffset&lt; PointT &gt; * point_data_</div><div class="ttdoc">The point data to compare.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:181</div></div>
<div class="ttc" id="aclasspcl_1_1_field_comparison_html_abbc5e8dec0e7ffc8a473fa4138158487"><div class="ttname"><a href="classpcl_1_1_field_comparison.html#abbc5e8dec0e7ffc8a473fa4138158487">pcl::FieldComparison::evaluate</a></div><div class="ttdeci">virtual bool evaluate(const PointT &amp;point) const</div><div class="ttdoc">Determine the result of this comparison.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_packed_h_s_i_comparison_html"><div class="ttname"><a href="classpcl_1_1_packed_h_s_i_comparison.html">pcl::PackedHSIComparison</a></div><div class="ttdoc">A packed HSI specialization of the comparison object.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:241</div></div>
<div class="ttc" id="aclasspcl_1_1_packed_h_s_i_comparison_html_a497c1061fd8fe8c8c78c6fd515f6e81b"><div class="ttname"><a href="classpcl_1_1_packed_h_s_i_comparison.html#a497c1061fd8fe8c8c78c6fd515f6e81b">pcl::PackedHSIComparison::rgb_offset_</a></div><div class="ttdeci">uint32_t rgb_offset_</div><div class="ttdoc">The offset of the component</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:284</div></div>
<div class="ttc" id="aclasspcl_1_1_packed_h_s_i_comparison_html_aa394610f9d8de6030109371978e771b3"><div class="ttname"><a href="classpcl_1_1_packed_h_s_i_comparison.html#aa394610f9d8de6030109371978e771b3">pcl::PackedHSIComparison::evaluate</a></div><div class="ttdeci">virtual bool evaluate(const PointT &amp;point) const</div><div class="ttdoc">Determine the result of this comparison.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:302</div></div>
<div class="ttc" id="aclasspcl_1_1_packed_h_s_i_comparison_html_ae244d3507ca4d3bada04b031020de3cc"><div class="ttname"><a href="classpcl_1_1_packed_h_s_i_comparison.html#ae244d3507ca4d3bada04b031020de3cc">pcl::PackedHSIComparison::component_id_</a></div><div class="ttdeci">ComponentId component_id_</div><div class="ttdoc">The ID of the component.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:278</div></div>
<div class="ttc" id="aclasspcl_1_1_packed_r_g_b_comparison_html"><div class="ttname"><a href="classpcl_1_1_packed_r_g_b_comparison.html">pcl::PackedRGBComparison</a></div><div class="ttdoc">A packed rgb specialization of the comparison object.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_packed_r_g_b_comparison_html_a58814eba8fac60e9c88a0312af198cc0"><div class="ttname"><a href="classpcl_1_1_packed_r_g_b_comparison.html#a58814eba8fac60e9c88a0312af198cc0">pcl::PackedRGBComparison::component_offset_</a></div><div class="ttdeci">uint32_t component_offset_</div><div class="ttdoc">The offset of the component</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1_packed_r_g_b_comparison_html_ae38e8bd30af2a99db2e7fd422fc916a9"><div class="ttname"><a href="classpcl_1_1_packed_r_g_b_comparison.html#ae38e8bd30af2a99db2e7fd422fc916a9">pcl::PackedRGBComparison::evaluate</a></div><div class="ttdeci">virtual bool evaluate(const PointT &amp;point) const</div><div class="ttdoc">Determine the result of this comparison.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:203</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_point_data_at_offset_html_a8713ce3dcb0a169674d8fff2bd8e1bb6"><div class="ttname"><a href="classpcl_1_1_point_data_at_offset.html#a8713ce3dcb0a169674d8fff2bd8e1bb6">pcl::PointDataAtOffset::compare</a></div><div class="ttdeci">int compare(const PointT &amp;p, const double &amp;val)</div><div class="ttdoc">Compare function.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:539</div></div>
<div class="ttc" id="aclasspcl_1_1_tf_quadratic_x_y_z_comparison_html_a23dbc06ac0fa16d04ea66bf66e35baa6"><div class="ttname"><a href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a23dbc06ac0fa16d04ea66bf66e35baa6">pcl::TfQuadraticXYZComparison::TfQuadraticXYZComparison</a></div><div class="ttdeci">TfQuadraticXYZComparison()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:382</div></div>
<div class="ttc" id="aclasspcl_1_1_tf_quadratic_x_y_z_comparison_html_a258054e9ce6fa5f7f85777fbbc4a506f"><div class="ttname"><a href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a258054e9ce6fa5f7f85777fbbc4a506f">pcl::TfQuadraticXYZComparison::evaluate</a></div><div class="ttdeci">virtual bool evaluate(const PointT &amp;point) const</div><div class="ttdoc">Determine the result of this comparison.</div><div class="ttdef"><b>Definition:</b> conditional_removal.hpp:509</div></div>
<div class="ttc" id="aclasspcl_1_1_tf_quadratic_x_y_z_comparison_html_a47d5d97a31a86606f138aeae4de0d5e7"><div class="ttname"><a href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a47d5d97a31a86606f138aeae4de0d5e7">pcl::TfQuadraticXYZComparison::setComparisonVector</a></div><div class="ttdeci">void setComparisonVector(const Eigen::Vector3f &amp;vector)</div><div class="ttdoc">set the vector &quot;v&quot; of the comparison &quot;p'Ap + 2v'p + c [OP] 0&quot;.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:367</div></div>
<div class="ttc" id="aclasspcl_1_1_tf_quadratic_x_y_z_comparison_html_a888f33172e35b6d8ffb3e3305661aeeb"><div class="ttname"><a href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#a888f33172e35b6d8ffb3e3305661aeeb">pcl::TfQuadraticXYZComparison::transformComparison</a></div><div class="ttdeci">void transformComparison(const Eigen::Matrix4f &amp;transform)</div><div class="ttdoc">transform the coordinate system of the comparison. If you think of the transformation to be a transla...</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:400</div></div>
<div class="ttc" id="aclasspcl_1_1_tf_quadratic_x_y_z_comparison_html_aebb2683ad5578b74adae49816da0252d"><div class="ttname"><a href="classpcl_1_1_tf_quadratic_x_y_z_comparison.html#aebb2683ad5578b74adae49816da0252d">pcl::TfQuadraticXYZComparison::setComparisonMatrix</a></div><div class="ttdeci">void setComparisonMatrix(const Eigen::Matrix3f &amp;matrix)</div><div class="ttdoc">set the matrix &quot;A&quot; of the comparison &quot;p'Ap + 2v'p + c [OP] 0&quot;.</div><div class="ttdef"><b>Definition:</b> conditional_removal.h:346</div></div>
<div class="ttc" id="agroup__common_html_gaa2ff830572b7cbf2fd8ce335fd9ca4fb"><div class="ttname"><a href="group__common.html#gaa2ff830572b7cbf2fd8ce335fd9ca4fb">pcl::getFields</a></div><div class="ttdeci">void getFields(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, std::vector&lt; pcl::PCLPointField &gt; &amp;fields)</div><div class="ttdoc">Get the list of available fields (i.e., dimension/channel)</div><div class="ttdef"><b>Definition:</b> io.hpp:79</div></div>
<div class="ttc" id="agroup__common_html_gab978bf1754771246b2f140a5b52a8f8b"><div class="ttname"><a href="group__common.html#gab978bf1754771246b2f140a5b52a8f8b">pcl::copyPoint</a></div><div class="ttdeci">void copyPoint(const PointInT &amp;point_in, PointOutT &amp;point_out)</div><div class="ttdoc">Copy the fields of a source point into a target point.</div><div class="ttdef"><b>Definition:</b> copy_point.hpp:138</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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